Kinematics control of redundant manipulators using a CMAC neural network combined with a genetic algorithm

被引：19
|
作者：
Li, YM [1 ]
Leong, SH [1 ]
机构：
[1] Univ Macau, Dept Electromech Engn, Fac Sci & Technol, Taipa, Macau SAR, Peoples R China
来源：
ROBOTICA | 2004年 / 22卷
关键词：
redundant manipulators; kinematics; CMAC neural networks;
D O I：
10.1017/S0263574704000414
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
A method is proposed to solve the inverse kinematics and control problems of robot control systems using a cerebellar model articulation controller neural network combined with a genetic algorithm. Computer simulations and experiments with a 7-DOF redundant modular manipulator have demonstrated the effectiveness of the proposed method.
引用
收藏
页码：611 / 621
页数：11
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